Dynamically control EKF robot_localization

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Hi,

I would like to change the params/topic names of ekf node dynamically during runtime via code. How should I go about doing this? I have attempted creating a Lifecycle Node and running both ekf and the lifecycle node together. I edited the source code by setting a variable to activate/deactivate depending on on_activate() or on_deactivate() from the lifecycle node and it is working. But wondering what is the "correct" way to do this? Thanks